instructions.h

#ifndef __INSTRUCTIONS_H__
#define __INSTRUCTIONS_H__
 
#include "SerialTalking.h"
 
// Opcodes declaration
 
#define SET_OPENLOOP_VELOCITIES_OPCODE  0x13 //0x12
 
#define GET_CODEWHEELS_COUNTERS_OPCODE  0x1C //0x0D
 
#define SET_VELOCITIES_OPCODE           0x10 //0x06
 
#define START_PUREPURSUIT_OPCODE        0x11 //0x07
#define START_TURNONTHESPOT_OPCODE      0x12 //0x09
 
#define POSITION_REACHED_OPCODE         0x14 //0x08
 
#define SET_POSITION_OPCODE             0x15 //0x0A
#define GET_POSITION_OPCODE             0x16 //0x0B
#define GET_VELOCITIES_OPCODE           0x17 //0x0C
 
#define SET_PARAMETER_VALUE_OPCODE      0x18 //0x0E
#define GET_PARAMETER_VALUE_OPCODE      0x19 //0x0F
 
#define RESET_PUREPURSUIT_OPCODE        0x1A //0x10
#define ADD_PUREPURSUIT_WAYPOINT_OPCODE 0x1B //0x11
 
#define GET_VELOCITIES_WANTED_OPCODE    0x1D
#define GOTO_DELTA_OPCODE               0x1E
 
#define RESET_PARAMETERS_OPCODE         0x1F
#define SAVE_PARAMETERS_OPCODE          0x20
#define START_TURNONTHESPOT_DIR_OPCODE  0x21
#define PRINT_PARAMS_OPCODE  0x22
 
// Parameters identifiers
 
#define LEFTWHEEL_RADIUS_ID             0x10
#define LEFTWHEEL_CONSTANT_ID           0x11
#define LEFTWHEEL_MAXPWM_ID             0x12
#define RIGHTWHEEL_RADIUS_ID            0x20
#define RIGHTWHEEL_CONSTANT_ID          0x21
#define RIGHTWHEEL_MAXPWM_ID            0x22
#define LEFTCODEWHEEL_RADIUS_ID         0x40
#define LEFTCODEWHEEL_COUNTSPERREV_ID   0x41
#define RIGHTCODEWHEEL_RADIUS_ID        0x50
#define RIGHTCODEWHEEL_COUNTSPERREV_ID  0x51
#define ODOMETRY_AXLETRACK_ID           0x60
#define ODOMETRY_SLIPPAGE_ID            0x61
#define VELOCITYCONTROL_AXLETRACK_ID    0x80
#define VELOCITYCONTROL_MAXLINACC_ID    0x81
#define VELOCITYCONTROL_MAXLINDEC_ID    0x82
#define VELOCITYCONTROL_MAXANGACC_ID    0x83
#define VELOCITYCONTROL_MAXANGDEC_ID    0x84
#define VELOCITYCONTROL_SPINSHUTDOWN_ID 0x85
#define LINVELPID_KP_ID                 0xA0
#define LINVELPID_KI_ID                 0xA1
#define LINVELPID_KD_ID                 0xA2
#define LINVELPID_MINOUTPUT_ID          0xA3
#define LINVELPID_MAXOUTPUT_ID          0xA4
#define ANGVELPID_KP_ID                 0xB0
#define ANGVELPID_KI_ID                 0xB1
#define ANGVELPID_KD_ID                 0xB2
#define ANGVELPID_MINOUTPUT_ID          0xB3
#define ANGVELPID_MAXOUTPUT_ID          0xB4
#define POSITIONCONTROL_LINVELKP_ID     0xD0
#define POSITIONCONTROL_ANGVELKP_ID     0xD1
#define POSITIONCONTROL_LINVELMAX_ID    0xD2
#define POSITIONCONTROL_ANGVELMAX_ID    0xD3
#define POSITIONCONTROL_LINPOSTHRESHOLD_ID  0xD4
#define POSITIONCONTROL_ANGPOSTHRESHOLD_ID  0xD5
#define PUREPURSUIT_LOOKAHED_ID         0xE0
#define PUREPURSUIT_LOOKAHEADBIS_ID     0xE2
 
#define BORNIBUS    0
#define R128        1
 
 
// Instructions prototypes
void DISABLE();
 
void GOTO_DELTA();
 
void RESET_PARAMETERS();
 
void SET_OPENLOOP_VELOCITIES();
 
void GET_CODEWHEELS_COUNTERS();
 
void SET_VELOCITIES();
 
void RESET_PUREPURSUIT();
 
void ADD_PUREPURSUIT_WAYPOINT();
 
void START_PUREPURSUIT();
 
void START_TURNONTHESPOT();
 
void START_TURNONTHESPOT_DIR();
 
void POSITION_REACHED();
 
void GET_VELOCITIES_WANTED();
 
void SET_POSITION();
 
void GET_POSITION();
 
void GET_VELOCITIES();
 
void SET_PARAMETER_VALUE();
 
void GET_PARAMETER_VALUE();
 
void RESET_PARAMETERS();
 
void SAVE_PARAMETERS();
 
void PRINT_PARAMS();
 
#endif // __INSTRUCTIONS_H__